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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRS1988

Mars Rover Sample Return mission delivery and return challenges

The Mars Rover Sample Return mission is a robotic exploration mission culminating in the return of atmospheric and surface samples from Mars to Earth. To accomplish this complex mission requires sophisticated autonomous systems for many time-critical operations associated with the delivery and return phases, since the round trip light times preclude Earth-based control of these operations. In addition, there are significant engineering and technology challenges to be addressed to meet the mission science and exploration objectives.

Cohen, Aaron↗

NASA NTRS1989

Review of image correlation systems - Hybrid and optical

The operating principles, design, and development histories of three image correlation systems, the Portable Correlator Unit (PCU), the Miniature Correlator Unit (MCU), and the Coherence Interferometer (CI) are reviewed. The PCU and MCU are compact versions of the classical Vander Lught filter optical correlator, essentially parallel optical processors by light valve; the CI is a white-light correlator which functions entirely by interfering light waves, with electronic detection only at the final output, and thus represents a parallel optical processor by rotational-shear interferometer. Details of the design and construction are discussed and illustrated with drawings and photographs. Also considered are applications of the MCU to NASA tasks such as rendezvous and docking on the Mars Rover and Sample Return mission, autonomous robotic exploration of planetary surfaces, and compression and pattern-recognition of remote-sensing data.

Breckinridge, James B.↗

NASA NTRS1991

Government/industry response to questionnaire on space mechanisms/tribology technology needs

President Bush has proposed that the U.S. undertake an ambitious mission of manned and robotic exploration of the solar system. This mission will require advanced mechanical moving components, such as bearings, gears, seals, lubricants, etc. There has been concern in the NASA community that the current technology level in these mechanical component/tribology areas may not be adequate to meet the goals of such a mission. To attempt to answer this, NASA-Lewis has sent out a questionnaire to government and industry workers (who have been involved in space mechanism research, design, and implementation) to ask their opinion if the current space mechanisms technology (mechanical components/tribology) is adequate to meet future NASA Missions needs and goals. If they deemed that the technology base inadequate, they were asked to specify the areas of greatest need. The unedited remarks of those who responded to the survey are presented.

Fusaro, Robert L.↗

NASA NTRS1991

The global distribution of Martian permafrost

Accurately determining the present global distribution of Martian ground ice will be an important step towards understanding the evolution of the Martian surface and atmosphere, and could greatly facilitate human and robotic exploration of the planet. The quantitative Mars permafrost studies demonstrated the potential importance of a number of factors determining the past and present distribution of subsurface ice on Mars, but have not considered the issue of regional variability. To consider the distribution of Mars permafrost in greater detail a new thermal model was developed that can calculate Martian surface and subsurface temperatures as a function of time-of-day and season. The results indicate that the distribution of Martian permafrost is highly sensitive to the bulk thermal properties of the overlying soil. Viking IRTM observations of diurnal surface temperature variations show that the bulk thermal properties of midlatitude surface materials exhibit a high degree of regional inhomogeneity. In general, the results show that the global distribution of permafrost is at least as sensitive to the thermal properties of the overlying surface material as it is to variations in surface isolation due to large scale variations in Mars' orbital and axial elements. In particular, they imply that subsurface ice may exist just a few centimeters below the surface in regions of low thermal inertia and high albedo, which are widespread at latitudes ranging from the equator to +60 degrees latitude.

Paige, David A.↗

NASA NTRS1994

Simplified Generation Of Distance Images

Optoelectronic apparatus undergoing development intended to produce digitized images that contain three-dimensional information: brightness of each picture element in digitized image depends on distance from apparatus to corresponding location in scene. Does not contain mechanical scanners. Signal-processing circuitry in this apparatus simpler. Smaller, weighs less, and consumes less power. Potential applications include automated inspection, remote exploration, robotic manipulators, robotic vehicles, and maneuvering and docking systems.

Wesolowicz, Karl↗

NASA NTRS1993

Opportunity for early science return by the Artemis Program

The purpose of the Artemis Program is to gather vital scientific and engineering data by conducting robotic exploration missions on the lunar surface both prior to and concurrent with human missions. The Artemis Program includes rapid, near-term development of a variety of small experimental and operational payloads, a low-cost capacity to deliver these payloads to any location on the lunar surface, and the analysis of the data returned. The Artemis Program will provide opportunities to improve the understanding of lunar geosciences, to demonstrate the Moon's unique capacity as an astronomical platform to study the universe, to conduct scientific and technology development experiments, and to prepare for and complement human missions.

Meyer, Charles↗

NASA NTRS1992

Artemis common lunar lander. Phase 2: Study results for external review

The purpose of the Artemis Program is to gather vital reconnaissance data by conducting robotic exploration missions to the lunar surface both prior to and concurrent with human exploration missions. The Artemis Program includes rapid, near-term development of a variety of small experimental and operational payloads, provides a low-cost capability to deliver these payloads to any location on the lunar surface, and supports the analysis of the data returned. The Artemis Program will improve the understanding of lunar geosciences, demonstrate the Moon's unique capability as an astronomical platform to study the universe, and to conduct scientific and technology development experiments, and will prepare for, enhance, and complement human mission The Artemis Common Lunar Lander Phase 2 Study results for external review are included.

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NASA NTRS1998

The Mars Surveyor 2001 Lander: A First Step Toward Precision Landing

As the robotic exploration of Mars continues, science objectives have driven mission and flight system development towards the use of precision landing technology such that small surface features, such as craters, can be investigated. In addition, the surface rendezvous elements of human exploration missions will require landing accuracy that is greatly improved over that achievable with ballistic flight. With improved approach navigation and hypersonic maneuvering technologies, the MSP'01 Lander is taking the first significant step toward precision landing on Mars. This advance requires both the ability to generate lift during the atmospheric flight and an on-board guidance algorithm to direct a three-axis control system. Many configuration options were examined to generate the required lift, with an afterbody-mounted deployable flap emerging as the lightest-weight solution. Five candidate guidance algorithms have been developed and submitted to the MSP'01 Project for evaluation. Through high-fidelity simulation, each of these algorithms has demonstrated the ability to greatly improve upon the landed accuracy provided by ballistic flight. As a result, the science community should expect to be within 10 km of the specified landing target. In fact, depending on the selected aeroshell L/D, a 5-km precision landing goal is achievable with greater than 90% confidence.

Braun, Robert D.↗

NASA NTRS1998

Utility of Lava Tubes on Other Worlds

On Mars, as on Earth, lava tubes are found in the extensive lava fields associated with shield volcanism. Lunar lava-tube traces are located near mare-highland boundaries, giving access to a variety of minerals and other resources, including steep slopes, prominent heights for local area communications and observation, large-surface areas in shade, and abundant basalt plains suitable for landing sites, mass-drivers, surface transportation, regolith harvesting, and other uses. Methods for detecting lava tubes include visual observations of collapse trenches and skylights, ground-penetrating radar, gravimetry, magnetometry, seismography, atmospheric effects, laser, lidar, infrared, and human or robotic exploration.

Walden, Bryce E.↗

NASA NTRS1999

Long Range Navigation for Mars Rovers Using Sensor-Based Path Planning and Visual Localisation

The Mars Pathfinder mission illustrated the benefits of including a mobile robotic explorer on a planetary mission. However, for future Mars rover missions, significantly increased autonomy in navigation is required in order to meet demanding mission criteria. To address these requirements, we have developed new path planning and localisation capabilities that allow a rover to navigate robustly to a distant landmark. These algorithms have been implemented on the JPL Rocky 7 prototype microrover and have been tested extensively in the JPL MarsYard, as well as in natural terrain.

Laubach, Sharon L.↗

NASA NTRS2000

International Space Station Evolution Data Book: Baseline Design - Volume 1

The International Space Station (ISS) will provide an Earth-orbiting facility that will accommodate engineering experiments as well as research in a microgravity environment for life and natural sciences. The ISS will distribute resource utilities and support permanent human habitation for conducting this research and experimentation in a safe and habitable environment. The objectives of the ISS program are to develop a world-class, international orbiting laboratory for conducting high-value scientific research for the benefit of humans on Earth; to provide access to the microgravity environment; to develop the ability to live and work in space for extended periods; and to provide a research test bed for developing advanced technology for human and robotic exploration of space. The current design and development of the ISS has been achieved through the outstanding efforts of many talented engineers, designers, technicians, and support personnel who have dedicated their time and hard work to producing a state-of-the-art Space Station. Despite these efforts, the current design of the ISS has limitations that have resulted from cost and technology issues. Regardless, the ISS must evolve during its operational lifetime to respond to changing user needs and long-term national and international goals. As technologies develop and user needs change, the ISS will be modified to meet these demands. The design and development of these modifications should begin now to prevent a significant lapse in time between the baseline design and the realization of future opportunities. For this effort to begin, an understanding of the baseline systems and current available opportunities for utilization needs to be achieved. Volume I of this document provides the consolidated overview of the ISS baseline systems. It also provides information on the current facilities available for pressurized and unpressurized payloads. Information on current plans for crew availability and utilization; resource timelines and margin summaries including power, thermal, and storage volumes; and an overview of the ISS cargo traffic and the vehicle traffic model is also included.

Jorgensen, Catherine A.↗

NASA NTRS2001

Astrobiology Science and Technology: A Path to Future Discovery

The Astrobiology Program is described. However, science-driven robotic exploration of extreme environments is needed for a new era of planetary exploration requiring biologically relevant instrumentation and extensive, autonomous operations on planetary surfaces. Additional information is contained in the original extended abstract.

Meyer, M. A.↗

NASA NTRS1997

Initial Results from Vision-based Control of the Marsokhod Rover

A geologist characterizing a field site typically wanders from one interesting geologic feature to another. Performing geology remotely with a mobile robot, we have observed the same behavior: geologists see a visually-interesting feature and wish to approach it for closer inspection. To date, navigating a mobile robot to a visually-interesting feature has been accomplished by driving to a location close to the feature. This introduces two problems: assigning a location to the feature and navigating the rover to that location. In practice, solutions to both of these problems are susceptable to positional error. Fundamentally, we can see where we want the robot to go, but it is difficult to precisely quantify where either the target or the robot are located. The development of vision-based control of robot manipulators suggests an alternative approach for mobile robot explorers. We have developed a vision-based control system that enables the Marsokhod rover to drive to within sampling distance of visually-designated rock or natural feature. We will describe this system and our initial results using it during a field experiment in the Painted Desert of Arizona.

Wettergreen, David↗

NASA NTRS2002

A Survey of Emerging Materials for Revolutionary Aerospace Vehicle Structures and Propulsion Systems

The NASA Strategic Plan identifies the long-term goal of providing safe and affordable space access, orbital transfer, and interplanetary transportation capabilities to enable scientific research, human, and robotic exploration, and the commercial development of space. Numerous scientific and engineering breakthroughs will be required to develop the technology required to achieve this goal. Critical technologies include advanced vehicle primary and secondary structure, radiation protection, propulsion and power systems, fuel storage, electronics and devices, sensors and science instruments, and medical diagnostics and treatment. Advanced materials with revolutionary new capabilities are an essential element of each of these technologies. A survey of emerging materials with applications to aerospace vehicle structures and propulsion systems was conducted to assist in long-term Agency mission planning. The comprehensive survey identified materials already under development that could be available in 5 to 10 years and those that are still in the early research phase and may not be available for another 20 to 30 years. The survey includes typical properties, a description of the material and processing methods, the current development status, and the critical issues that must be overcome to achieve commercial viability.

Harris, Charles E.↗

NASA NTRS2004

Evolution of a Mars Airplane Concept for the ARES Mars Scout Mission

ARES (Aerial Regional-scale Environmental Survey of Mars) is a proposed Mars Scout mission using an airplane to provide high-value science measurements in the areas of atmospheric chemistry, surface geology and mineralogy, and crustal magnetism. The use of an airplane for robotic exploration of Mars has been studied for over 25 years. There are, however, significant challenges associated with getting an airplane to Mars and flying through the thin, carbon dioxide Martian atmosphere. The traditional wisdom for aircraft design does not always apply for this type of vehicle and geometric, aerodynamic, and mission constraints result in a limited feasible design space. The ARES airplane design is the result of a concept exploration and evolution involving a number of trade studies, downselects, and design refinements. Industry, university, and NASA partners initially proposed a number of different concepts, drawing heavily on past Mars airplane design experience. Concept downselects were conducted with qualitative evaluation and high level analyses, focused on the most important parameters for the ARES mission. Following a successful high altitude test flight of the basic configuration, additional design refinement led to the current design. The resulting Mars airplane concept enables the high-value science objectives of the ARES mission to be accomplished while also fulfilling the desire for a simple, low-risk design.

Smith, Stephen C.↗

NASA NTRS2004

Extraction of Organic Molecules from Terrestrial Material: Quantitative Yields from Heat and Water Extractions

In the robotic search for life on Mars, different proposed missions will analyze the chemical and biological signatures of life using different platforms. The analysis of samples via analytical instrumentation on the surface of Mars has thus far only been attempted by the two Viking missions. Robotic arms scooped relogith material into a pyrolysis oven attached to a GC/MS. No trace of organic material was found on any of the two different samples at either of the two different landing sites. This null result puts an upper limit on the amount of organics that might be present in Martian soil/rocks, although the level of detection for each individual molecular species is still debated. Determining the absolute limit of detection for each analytical instrument is essential so that null results can be understood. This includes investigating the trade off of using pyrolysis versus liquid solvent extraction to release organic materials (in terms of extraction efficiencies and the complexity of the sample extraction process.) Extraction of organics from field samples can be accomplished by a variety of methods such utilizing various solvents including HCl, pure water, supercritical fluid and Soxhelt extraction. Utilizing 6N HCl is one of the most commonly used method and frequently utilized for extraction of organics from meteorites but it is probably infeasible for robotic exploration due to difficulty of storage and transport. Extraction utilizing H2O is promising, but it could be less efficient than 6N HCl. Both supercritical fluid and Soxhelt extraction methods require bulky hardware and require complex steps, inappropriate for inclusion on rover spacecraft. This investigation reports the efficiencies of pyrolysis and solvent extraction methods for amino acids for different terrestrial samples. The samples studied here, initially created in aqueous environments, are sedimentary in nature. These particular samples were chosen because they possibly represent one of the best terrestrial analogs of Mars and they represent one of the absolute best case scenarios for finding organic molecules on the Martian surface.

Beegle, L. W.↗

NASA NTRS2004

Approach for Autonomous Control of Unmanned Aerial Vehicle Using Intelligent Agents for Knowledge Creation

This paper describes the development of a planned approach for Autonomous operation of an Unmanned Aerial Vehicle (UAV). A Hybrid approach will seek to provide Knowledge Generation thru the application of Artificial Intelligence (AI) and Intelligent Agents (IA) for UAV control. The application of many different types of AI techniques for flight will be explored during this research effort. The research concentration will be directed to the application of different AI methods within the UAV arena. By evaluating AI approaches, which will include Expert Systems, Neural Networks, Intelligent Agents, Fuzzy Logic, and Complex Adaptive Systems, a new insight may be gained into the benefits of AI techniques applied to achieving true autonomous operation of these systems thus providing new intellectual merit to this research field. The major area of discussion will be limited to the UAV. The systems of interest include small aircraft, insects, and miniature aircraft. Although flight systems will be explored, the benefits should apply to many Unmanned Vehicles such as: Rovers, Ocean Explorers, Robots, and autonomous operation systems. The flight system will be broken down into control agents that will represent the intelligent agent approach used in AI. After the completion of a successful approach, a framework of applying a Security Overseer will be added in an attempt to address errors, emergencies, failures, damage, or over dynamic environment. The chosen control problem was the landing phase of UAV operation. The initial results from simulation in FlightGear are presented.

Dufrene, Warren R., Jr.↗

NASA NTRS2004

Planning and Execution: The Spirit of Opportunity for Robust Autonomous Systems

One of the most exciting endeavors pursued by human kind is the search for life in the Solar System and the Universe at large. NASA is leading this effort by designing, deploying and operating robotic systems that will reach planets, planet moons, asteroids and comets searching for water, organic building blocks and signs of past or present microbial life. None of these missions will be achievable without substantial advances in.the design, implementation and validation of autonomous control agents. These agents must be capable of robustly controlling a robotic explorer in a hostile environment with very limited or no communication with Earth. The talk focuses on work pursued at the NASA Ames Research center ranging from basic research on algorithm to deployed mission support systems. We will start by discussing how planning and scheduling technology derived from the Remote Agent experiment is being used daily in the operations of the Spirit and Opportunity rovers. Planning and scheduling is also used as the fundamental paradigm at the core of our research in real-time autonomous agents. In particular, we will describe our efforts in the Intelligent Distributed Execution Architecture (IDEA), a multi-agent real-time architecture that exploits artificial intelligence planning as the core reasoning engine of an autonomous agent. We will also describe how the issue of plan robustness at execution can be addressed by novel constraint propagation algorithms capable of giving the tightest exact bounds on resource consumption or all possible executions of a flexible plan.

Muscettola, Nicola↗